Otter Research

Research

• OtterROS: Picking and Programming an Uncrewed Surface Vessel for Experimental Field Robotics Research with ROS 2 - 2024-04-08 - Research Publication - The team selected a Maritime Robotics Otter as its field-research USV and documents the practical criteria, onboard modifications and interfaces used to turn the commercial vessel into a ROS 2 platform. OtterROS exposes… - source: arxiv.org
• Leveraging digital twins for fault diagnosis in autonomous ships - 2024-01-15 - Research Publication - The digital-twin pipeline ingests the vessel sensor array, applies a dynamic ship model and adaptive extended Kalman filter, and estimates the magnitude of propulsion-system faults. Evaluation covers both numerical… - source: doi.org
• Digital Twin-Driven Fault Diagnosis for Autonomous Surface Vehicles - 2023-04-20 - Research Publication - The digital twin receives live Otter GNSS and control inputs and uses a graphical vehicle model with an adaptive extended Kalman filter to estimate actuator-fault magnitude. Researchers test the method on a physical… - source: doi.org
• Hijacking of unmanned surface vehicles: A demonstration of attacks and countermeasures in the field - 2022-03-07 - Research Publication - A man-in-the-middle device redirects Otter guidance, navigation and control traffic and applies fixed or incremental offsets to heading and latitude, plus a delayed-message replay attack. Five harbor experiments each… - source: doi.org
• Five-State Extended Kalman Filter for Estimation of Speed over Ground (SOG), Course over Ground (COG) and Course Rate of Unmanned Surface Vehicles (USVs): Experimental Results - 2021-11-27 - Research Publication - The five-state EKF estimates speed over ground, course over ground and course rate from latitude-longitude fixes, avoiding dependence on the less reliable course and speed outputs of a low-cost GNSS receiver. Researchers… - source: doi.org
• Vision-based positioning system for auto-docking of unmanned surface vehicles (USVs) - 2021-08-10 - Research Publication - The Otter test platform combines two electro-optical cameras and LiDAR with a hybrid perception pipeline using YOLOv3-SPP, ArUco markers and monocular or stereo geometry. The system estimates relative dock pose through… - source: doi.org
• Shallow-Water Habitat Mapping using Underwater Hyperspectral Imaging from an Unmanned Surface Vehicle: A Pilot Study - 2019-03-21 - Research Publication - Researchers suspended a UHI-4 underwater hyperspectral imager beneath an Otter USV and synchronized it with RTK positioning and inertial measurements for georeferenced seabed observations. The pilot survey ran six tracks… - source: doi.org